NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 958 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 335.50 of 550.00 AH used of 24V (39.00% remains)
• Surface angle -61.9 deg, depth 0.49 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 3 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.83 - - - 77.25 VBD -1.54 - - 178.12 - - - 2231.56 - -82.73 70.25 0.005 2703.16 - - - - - - - - - - 14.87
78.36 3.30 -4.80 13 110.64 -1.54 14.49 0.241 1946.94 122.1 2.57 0.067 1209.31 -397.8 -82.73 9.64 0.007 3112.47 42.5 -3.475 - - - - - - 15.36 14.89 15.05
337.74 45.93 -13.38 65 343.31 roll -1.54 - - 1947.50 - 2.71 0.027 2352.00 421.7 -82.73 - - 3112.50 - - - - - - - - - 15.81 -
528.41 70.41 -11.56 103 533.35 roll -1.54 - - 1947.88 - 2.83 0.058 1209.44 -403.7 -82.73 - - 3114.69 - - - - - - - - - 15.81 -
587.78 77.77 -12.23 115 593.33 roll -1.54 - - 1948.25 - 2.66 0.026 2342.31 425.9 -82.73 - - 3112.84 - - - - - - - - - 15.85 -
778.19 98.58 -10.51 153 779.52 no move -1.54 - - 1948.00 - - - 2341.75 - -82.73 - - 3111.72 - - - - - - - - - - -
962.86 117.17 -9.82 190 968.43 roll -1.54 - - 1947.94 - 2.81 0.058 1208.75 -403.2 -82.73 - - 3113.09 - - - - - - - - - 15.86 -
1072.88 128.08 -9.78 212 1078.43 roll -1.54 - - 1946.94 - 2.64 0.026 2341.06 428.9 -82.73 - - 3112.94 - - - - - - - - - 15.92 -
1383.00 157.10 -9.02 274 1388.55 roll -1.54 - - 1947.94 - 2.79 0.058 1209.75 -405.5 -82.73 - - 3112.78 - - - - - - - - - 15.89 -
1468.01 165.14 -9.51 291 1473.56 roll -1.54 - - 1947.38 - 2.62 0.026 2338.38 430.8 -82.73 - - 3113.25 - - - - - - - - - 15.94 -
1778.12 192.05 -9.00 353 1783.69 roll -1.54 - - 1947.56 - 2.76 0.058 1209.19 -409.1 -82.73 - - 3112.72 - - - - - - - - - 15.91 -
1813.12 195.31 -9.27 360 1818.86 roll -1.54 - - 1947.88 - 2.61 0.026 2334.38 431.1 -82.73 - - 3113.97 - - - - - - - - - 15.95 -
2123.25 221.55 -8.32 422 2128.80 roll -1.54 - - 1947.38 - 2.76 0.059 1207.88 -408.2 -82.73 - - 3113.44 - - - - - - - - - 15.92 -
2193.46 227.81 -9.01 436 2198.79 roll -1.54 - - 1948.12 - 2.60 0.026 2329.31 431.3 -82.73 - - 3112.75 - - - - - - - - - 15.95 -
2503.38 252.59 -7.83 498 2508.94 roll -1.54 - - 1947.88 - 2.74 0.059 1208.75 -409.0 -82.73 - - 3113.41 - - - - - - - - - 15.92 -
2578.39 259.08 -8.84 513 2583.93 roll -1.54 - - 1947.62 - 2.59 0.026 2323.44 430.4 -82.73 - - 3113.03 - - - - - - - - - 15.97 -
2888.48 285.52 -8.41 575 2894.03 roll -1.54 - - 1946.88 - 2.73 0.059 1209.69 -408.0 -82.73 - - 3113.19 - - - - - - - - - 15.92 -
2948.48 290.93 -9.11 587 2954.01 roll -1.54 - - 1947.69 - 2.58 0.026 2321.44 430.9 -82.73 - - 3113.75 - - - - - - - - - 15.97 -
3255.00 317.60 -8.81 626 3266.07 no move -1.54 - - 1947.56 - - - 2321.19 - -82.73 - - 3112.88 - - - - - - - - - - -
3568.17 344.27 -8.33 655 3572.81 roll -1.54 - - 1947.62 - 2.72 0.060 1208.62 -409.0 -82.73 - - 3115.97 - - - - - - - - - 15.95 -
3668.31 352.92 -8.64 668 3672.93 roll -1.54 - - 1948.00 - 2.58 0.026 2321.38 431.3 -82.73 - - 3112.69 - - - - - - - - - 15.99 -
3979.59 377.79 -7.99 697 3984.26 roll -1.54 - - 1947.38 - 2.82 0.085 3423.94 391.0 -82.73 - - 3111.53 - - - - - - - - - 15.90 -
4018.14 381.09 -8.53 703 4033.08 roll -1.54 - - 1947.62 - 2.66 0.019 2213.50 -455.1 -82.73 - - 3113.66 - - - - - - - - - 15.99 -
4334.84 406.86 -8.33 732 4339.43 roll -1.54 - - 1946.50 - 2.47 0.066 1208.88 -406.7 -82.73 - - 3112.75 - - - - - - - - - 15.94 -
4373.38 410.20 -8.74 738 4388.30 roll -1.54 - - 1947.50 - 2.57 0.026 2317.25 431.3 -82.73 - - 3114.28 - - - - - - - - - 16.00 -
4689.56 438.48 -8.95 767 4700.62 no move -1.54 - - 1947.31 - - - 2317.25 - -82.73 - - 3112.41 - - - - - - - - - - -
5003.02 466.85 -9.00 796 5007.67 roll -1.54 - - 1947.44 - 2.72 0.061 1210.62 -406.8 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
5073.04 473.53 -9.50 806 5087.96 roll -1.54 - - 1947.50 - 2.55 0.026 2310.75 431.4 -82.73 - - 3114.03 - - - - - - - - - 16.01 -
5397.77 502.66 -8.51 835 5402.60 roll -1.54 - - 1947.75 - 2.72 0.061 1208.31 -405.3 -82.73 - - 3111.09 - - - - - - - - - 15.93 -
5436.48 505.93 -8.67 841 5441.85 roll -1.54 - - 1947.69 - 2.55 0.026 2307.88 431.2 -82.73 - - 3113.16 - - - - - - - - - 16.00 -
5755.72 531.01 -7.45 863 5760.34 roll -1.54 - - 1947.19 - 2.68 0.062 1208.06 -410.4 -82.73 - - 3113.62 - - - - - - - - - 15.94 -
5836.06 537.09 -7.65 875 5841.60 roll -1.54 - - 1947.50 - 2.53 0.026 2302.69 432.7 -82.73 - - 3111.97 - - - - - - - - - 16.01 -
6155.47 560.55 -7.29 897 6156.80 no move -1.54 - - 1947.56 - - - 2302.56 - -82.73 - - 3110.91 - - - - - - - - - - -
6470.48 582.96 -7.26 918 6471.81 no move -1.54 - - 1947.69 - - - 2302.62 - -82.73 - - 3109.97 - - - - - - - - - - -
6785.49 607.50 -8.00 939 6790.11 roll -1.54 - - 1947.69 - 2.69 0.063 1209.19 -406.5 -82.73 - - 3111.19 - - - - - - - - - 15.93 -
6829.03 610.66 -8.27 946 6843.96 roll -1.54 - - 1947.62 - 2.54 0.026 2303.56 430.9 -82.73 - - 3111.03 - - - - - - - - - 16.00 -
7158.45 637.22 -7.84 968 7159.78 no move -1.54 - - 1947.56 - - - 2303.50 - -82.73 - - 3108.91 - - - - - - - - - - -
7473.46 662.06 -7.72 989 7474.79 no move -1.54 - - 1947.75 - - - 2303.81 - -82.73 - - 3108.94 - - - - - - - - - - -
7788.48 684.54 -7.00 1010 7789.81 no move -1.54 - - 1947.44 - - - 2303.38 - -82.73 - - 3108.62 - - - - - - - - - - -
8103.67 706.37 -6.85 1031 8108.32 roll -1.54 - - 1947.12 - 2.71 0.063 1210.56 -403.3 -82.73 - - 3108.75 - - - - - - - - - 15.92 -
8203.09 713.47 -7.13 1045 8207.71 roll -1.54 - - 1947.62 - 2.51 0.027 2297.00 432.8 -82.73 - - 3108.28 - - - - - - - - - 16.00 -
8519.75 735.68 -7.21 1067 8524.49 roll -1.54 - - 1947.75 - 2.90 0.088 3422.75 388.2 -82.73 - - 3110.22 - - - - - - - - - 15.86 -
8579.37 740.29 -7.75 1076 8584.94 roll -1.54 - - 1947.44 - 2.70 0.019 2200.25 -452.8 -82.73 - - 3108.91 - - - - - - - - - 16.00 -
8898.77 764.41 -7.45 1098 8903.36 roll -1.54 - - 1945.62 - 2.46 0.069 1209.44 -402.8 -82.73 - - 3108.62 - - - - - - - - - 15.91 -
8942.31 767.38 -7.75 1105 8957.23 roll -1.54 - - 1947.88 - 2.55 0.027 2299.31 427.4 -82.73 - - 3108.06 - - - - - - - - - 16.01 -
9271.70 793.54 -7.82 1127 9273.03 no move -1.54 - - 1947.38 - - - 2299.81 - -82.73 - - 3107.97 - - - - - - - - - - -
9586.72 817.21 -7.22 1148 9588.05 no move -1.54 - - 1947.44 - - - 2299.69 - -82.73 - - 3107.44 - - - - - - - - - - -
9901.73 839.33 -6.67 1169 9903.06 no move -1.54 - - 1947.56 - - - 2299.38 - -82.73 - - 3106.50 - - - - - - - - - - -
10216.75 859.30 -6.36 1190 10221.41 roll -1.54 - - 1947.69 - 2.71 0.065 1209.69 -402.1 -82.73 - - 3106.16 - - - - - - - - - 15.90 -
10276.03 863.21 -6.65 1199 10281.57 roll -1.54 - - 1947.50 - 2.55 0.027 2300.75 427.9 -82.73 - - 3106.72 - - - - - - - - - 16.00 -
10595.46 881.83 -5.70 1221 10600.15 roll -1.54 - - 1945.50 - 2.92 0.089 3426.25 385.4 -82.73 - - 3106.69 - - - - - - - - - 15.84 -
10634.01 884.26 -6.16 1227 10639.55 roll -1.54 - - 1947.31 - 2.69 0.020 2203.50 -454.6 -82.73 - - 3107.56 - - - - - - - - - 15.98 -
10953.63 903.30 -5.66 1249 10958.41 roll -1.54 - - 1947.69 - 3.14 0.085 3423.94 388.7 -82.73 - - 3106.03 - - - - - - - - - 15.84 -
11012.91 907.17 -6.42 1258 11018.45 roll -1.54 - - 1946.88 - 2.70 0.020 2205.12 -451.4 -82.73 - - 3108.44 - - - - - - - - - 15.98 -
11332.35 925.82 -5.79 1280 11333.68 no move -1.54 - - 1947.19 - - - 2204.50 - -82.73 - - 3106.31 - - - - - - - - - - -
11647.37 944.18 -6.02 1301 11652.08 roll -1.54 - - 1947.31 - 3.15 0.086 3425.12 387.5 -82.73 - - 3105.62 - - - - - - - - - 15.83 -
11685.93 946.68 -6.40 1307 11691.47 roll -1.54 - - 1947.50 - 2.68 0.020 2206.56 -454.7 -82.73 - - 3105.81 - - - - - - - - - 15.98 -
12005.36 966.50 -6.07 1329 12006.69 no move -1.54 - - 1947.75 - - - 2205.19 - -82.73 - - 3104.69 - - - - - - - - - - -
12320.38 985.46 -6.29 1350 12325.11 roll -1.54 - - 1947.75 - 3.14 0.086 3425.25 388.6 -82.73 - - 3105.06 - - - - - - - - - 15.82 -
12378.92 989.58 -6.86 1358 12383.56 roll -1.54 - - 1947.38 - 2.67 0.020 2210.25 -455.1 -82.73 - - 3104.41 - - - - - - - - - 15.98 -
12395 end dive: TARGET_DEPTH_EXCEEDED
12395 begin apogee
12397.53 990.67 -6.89 1360 12473.08 -0.28 2.20 0.142 2254.00 139.4 0.17 0.151 2160.06 -295.2 - 67.57 2.406 2776.34 -4.9 0.347 - - - - - - 15.73 15.19 10.17
12474 end apogee: CONTROL_FINISHED_OK
12475 begin climb
12475.84 992.03 - 1365 12562.87 1.54 3.01 0.091 2698.50 147.7 0.17 0.082 2037.25 -722.4 82.73 70.77 2.375 2438.72 -4.8 0.346 - - - - - - 15.45 15.56 11.73
12875.18 967.76 6.68 1398 12876.51 no move 1.57 - - 2698.19 - - - 2037.25 - 82.73 - - 2430.31 - - - - - - - - - - -
13189.63 947.93 6.08 1419 13254.97 1.69 0.20 0.084 2741.19 215.0 3.08 0.083 3204.12 378.9 141.01 50.13 2.334 2201.66 -4.6 0.322 - - - - - - 15.77 15.26 11.11
13276.95 941.12 7.70 1431 13281.58 roll 1.70 - - 2740.69 - 2.66 0.025 2061.31 -429.6 141.01 - - 2198.09 - - - - - - - - - 15.55 -
13593.44 912.96 8.82 1453 13594.77 no move 1.70 - - 2740.50 - - - 2061.06 - 141.01 - - 2193.12 - - - - - - - - - - -
13908.47 885.30 8.68 1474 13909.79 no move 1.70 - - 2740.62 - - - 2061.56 - 141.01 - - 2191.25 - - - - - - - - - - -
14223.48 858.67 8.48 1495 14228.17 done 1.70 - - 2740.25 - 2.94 0.080 3204.19 388.6 141.01 - - 2190.09 - - - - - - - - - 15.82 -
14287.95 853.44 8.87 1505 14302.69 done 1.70 - - 2740.62 - 2.58 0.026 2064.81 -441.6 141.01 - - 2191.59 - - - - - - - - - 15.88 -
14617.19 825.69 8.21 1527 14618.52 VBD 1.70 - - 2739.62 - - - 2064.50 - 141.01 - - 2189.66 - - - - - - - - - - -
14932.20 799.89 8.14 1548 14936.90 done 1.70 - - 2740.31 - 2.92 0.080 3204.94 390.6 141.01 - - 2189.66 - - - - - - - - - 15.85 -
14991.49 794.95 8.41 1557 14997.03 done 1.70 - - 2740.50 - 2.60 0.025 2064.12 -438.8 141.01 - - 2190.03 - - - - - - - - - 15.93 -
15310.91 770.72 7.53 1579 15315.57 done 1.72 - - 2741.25 - 2.70 0.086 993.62 -396.5 141.01 - - 2187.81 - - - - - - - - - 15.84 -
15370.20 765.89 8.13 1588 15375.75 done 1.72 - - 2740.75 - 2.67 0.025 2139.50 429.2 141.01 - - 2191.59 - - - - - - - - - 15.95 -
15689.61 741.82 7.50 1610 15694.26 done 1.74 - - 2738.56 - 2.72 0.084 3202.19 390.7 141.01 - - 2189.22 - - - - - - - - - 15.86 -
15733.17 738.83 7.78 1617 15748.08 done 1.76 - - 2739.12 - 2.58 0.025 2061.19 -442.2 141.01 - - 2189.72 - - - - - - - - - 15.96 -
16062.58 713.14 7.69 1639 16067.27 done 1.77 - - 2740.69 - 2.94 0.080 3202.62 388.2 141.01 - - 2190.28 - - - - - - - - - 15.86 -
16121.88 708.32 8.14 1648 16127.42 done 1.77 - - 2740.50 - 2.57 0.025 2065.81 -442.3 141.01 - - 2188.66 - - - - - - - - - 15.96 -
16441.51 683.85 7.42 1670 16446.21 done 1.79 - - 2740.12 - 2.69 0.086 994.88 -398.1 141.01 - - 2188.12 - - - - - - - - - 15.84 -
16480.07 680.90 7.67 1676 16485.61 done 1.81 - - 2741.12 - 2.66 0.026 2150.44 434.4 141.01 - - 2188.59 - - - - - - - - - 15.97 -
16799.49 657.61 7.16 1698 16804.12 done 1.83 - - 2740.69 - 2.69 0.084 3203.62 391.5 141.01 - - 2188.50 - - - - - - - - - 15.86 -
16857.78 652.97 7.77 1706 16862.47 1.85 0.17 0.091 2779.56 228.6 2.56 0.025 2071.62 -442.2 141.01 - - 2186.81 - - - - - - - - 15.80 15.96 -
17174.69 628.97 7.68 1728 17179.34 done 1.86 - - 2779.69 - 2.71 0.084 993.62 -397.8 141.01 - - 2190.25 - - - - - - - - - 15.85 -
17218.23 625.87 7.97 1735 17233.17 done 1.86 - - 2779.44 - 2.67 0.026 2149.50 432.9 141.01 - - 2188.09 - - - - - - - - - 15.98 -
17547.66 601.00 6.92 1757 17552.29 done 1.89 - - 2779.19 - 2.69 0.084 3203.25 391.7 141.01 - - 2187.44 - - - - - - - - - 15.86 -
17584.86 598.24 7.16 1762 17589.48 done 1.92 - - 2780.75 - 2.56 0.025 2069.31 -442.9 141.01 - - 2186.72 - - - - - - - - - 15.97 -
17901.50 575.71 7.13 1784 17902.83 VBD 1.95 - - 2780.31 - - - 2070.12 - 141.01 - - 2187.41 - - - - - - - - - - -
18216.43 551.48 7.96 1805 18221.30 done 1.96 - - 2779.94 - 2.91 0.080 3205.62 390.2 141.01 - - 2187.25 - - - - - - - - - 15.86 -
18260.12 548.19 8.43 1812 18274.93 done 1.96 - - 2780.50 - 2.55 0.025 2073.81 -443.8 141.01 - - 2190.00 - - - - - - - - - 15.97 -
18589.44 520.16 8.39 1834 18594.09 done 1.96 - - 2778.38 - 2.71 0.085 993.50 -398.6 141.01 - - 2187.47 - - - - - - - - - 15.83 -
18612.59 518.70 8.51 1838 18627.19 done 1.96 - - 2780.50 - 2.68 0.025 2151.75 432.2 141.01 - - 2188.47 - - - - - - - - - 15.99 -
18933.28 490.89 8.26 1862 18937.91 done 1.96 - - 2780.69 - 2.69 0.083 3205.75 391.8 141.01 - - 2186.97 - - - - - - - - - 15.85 -
19033.42 482.03 8.96 1875 19038.04 done 1.96 - - 2780.25 - 2.57 0.025 2075.19 -439.9 141.01 - - 2189.22 - - - - - - - - - 15.97 -
19345.09 456.19 8.42 1904 19356.17 VBD 1.96 - - 2780.19 - - - 2075.25 - 141.01 - - 2187.78 - - - - - - - - - - -
19658.05 429.02 8.90 1933 19669.12 VBD 1.96 - - 2781.06 - - - 2075.00 - 141.01 - - 2187.84 - - - - - - - - - - -
19970.77 402.48 8.27 1962 19975.43 done 1.96 - - 2780.25 - 2.73 0.084 993.81 -396.0 141.01 - - 2189.41 - - - - - - - - - 15.83 -
20025.05 397.66 8.87 1970 20039.99 done 1.96 - - 2780.38 - 2.66 0.025 2154.56 436.4 141.01 - - 2187.41 - - - - - - - - - 15.98 -
20341.88 372.09 7.72 1999 20352.95 VBD 1.97 - - 2780.56 - - - 2153.81 - 141.01 - - 2188.03 - - - - - - - - - - -
20654.86 348.31 7.28 2028 20665.94 VBD 2.00 - - 2780.69 - - - 2153.75 - 141.01 - - 2187.94 - - - - - - - - - - -
20968.00 325.79 7.09 2057 20979.19 2.02 0.19 0.082 2824.12 228.6 - - 2153.88 - 141.01 - - 2189.41 - - - - - - - - 15.94 - -
21280.95 302.59 7.24 2086 21292.03 VBD 2.05 - - 2824.38 - - - 2154.12 - 141.01 - - 2187.66 - - - - - - - - - - -
21597.26 279.30 7.69 2144 21602.84 done 2.06 - - 2824.69 - 2.92 0.079 992.31 -397.9 141.01 - - 2188.06 - - - - - - - - - 15.81 -
21747.68 266.59 8.62 2174 21752.85 done 2.06 - - 2824.75 - 2.67 0.025 2152.50 434.5 141.01 - - 2187.47 - - - - - - - - - 15.96 -
22057.52 243.47 7.80 2236 22058.86 VBD 2.08 - - 2824.75 - - - 2152.75 - 141.01 - - 2187.06 - - - - - - - - - - -
22362.48 220.75 7.51 2297 22368.06 done 2.10 - - 2824.25 - 2.90 0.077 992.31 -400.2 141.01 - - 2188.47 - - - - - - - - - 15.81 -
22442.47 214.31 8.14 2313 22448.03 done 2.10 - - 2824.00 - 2.66 0.025 2149.25 434.9 141.01 - - 2189.78 - - - - - - - - - 15.96 -
22752.74 191.64 6.99 2375 22754.07 VBD 2.12 - - 2824.19 - - - 2149.31 - 141.01 - - 2186.72 - - - - - - - - - - -
23057.59 171.75 6.38 2436 23104.38 2.23 0.22 0.077 2873.12 222.4 2.92 0.079 993.56 -395.8 192.10 40.17 1.389 1992.22 -4.8 0.104 - - - - - - 15.92 15.37 10.44
23157.58 163.01 10.16 2456 23163.15 roll 2.23 - - 2873.94 - 2.68 0.025 2144.00 429.3 192.10 - - 1989.31 - - - - - - - - - 15.82 -
23467.63 135.05 8.93 2518 23468.96 no move 2.23 - - 2873.44 - - - 2144.44 - 192.10 - - 1985.41 - - - - - - - - - - -
23772.67 105.88 9.59 2579 23778.25 roll 2.23 - - 2872.62 - 2.92 0.077 993.50 -394.2 192.10 - - 1986.41 - - - - - - - - - 15.80 -
23807.66 102.25 10.39 2586 23813.21 roll 2.23 - - 2873.50 - 2.66 0.024 2148.81 434.3 192.10 - - 1985.00 - - - - - - - - - 15.89 -
24117.72 77.95 5.99 2648 24171.17 done 2.35 - - 2873.44 - 2.70 0.082 3206.12 391.6 252.71 47.68 1.266 1743.62 -5.1 0.054 - - - - - - - 15.43 11.04
24334.00 62.00 6.74 2691 24338.96 roll 2.38 - - 2873.75 - 2.58 0.023 2072.94 -439.2 252.71 - - 1739.25 - - - - - - - - - 15.80 -
24523.47 52.63 3.31 2729 24627.42 2.63 0.55 0.057 2971.00 176.8 2.77 0.082 992.50 -390.1 378.96 96.41 1.224 1231.56 -5.3 0.039 - - - - - - 15.80 15.28 11.14
24734.64 34.39 13.03 2771 24740.08 roll 2.63 - - 2971.12 - 2.68 0.023 2138.69 427.7 378.96 - - 1224.06 - - - - - - - - - 15.65 -
24924.55 11.29 12.75 2809 24930.14 done 2.63 - - 2971.50 - 2.90 0.077 992.31 -395.3 378.96 - - 1221.56 - - - - - - - - - 15.69 -
24984 end climb: SURFACE_DEPTH_REACHED
24984 begin surface coast
24989 end surface coast: CONTROL_FINISHED_OK
24989 begin surface
SM 0.74 - - - - 183.0 35.78 1.139 1042.3 29.1 18.03 0.084 1004.1 55.7 - 3.18 0.029 1080.6 338.9 -0.884 - - 11.29 15.57 15.75 -